onder

45 Reputation

8 Badges

8 years, 320 days

MaplePrimes Activity


These are questions asked by onder

Hello,

I have an industrial robot model and I need to define constraints for the revolute joints. For example, R2 joint is only allowed to move between -165 to 165 degrees. Could you please tell me how I can impose these constraints?

Thank you.

Önder

Hi,

I am unable to see length of rigid body frame in MapleSim Examples - Physical Domain  - Multibody - 5 DOF robot? Is there a way to see them?

Thanks

Onder

Hi,

I am trying to download some MapleSim Robotic models from the Maplesoft website but I have 'Invalid File Format' error. Could you help please?

Best

Onder

Hi,

I used to use windows 32 bit, but I have 64 bit windows now. I installed the MapleSim 6.4 and Maple 18 and try to run the simulations that I created with the 32 bit windows. I have this error 'Unable to compile (rc=1), please try again, and if that fails verify your Windows compiller installation'. Could you please let me know what should I do to eliminate this problem?

Best

Onder

Hi,

I am trying to plot only the real part of the values obtained from the MapleSim model.  Probably there is a Modelica function to get only the real part of the values, but I am unable to find it. Could you please have a look at the code and let me know what I should do to solve this problem?

Best

Onder

 

The code is: (I want to plot the real part of R2)

 

model IKTest

parameter Boolean switched = false;
parameter Modelica.SIunits.Length L1 = 0.100;
parameter Modelica.SIunits.Length L2 = 0.102;
parameter Modelica.SIunits.Length L3 = 0.5;
//parameter Real c; //Complex number
//parameter c;

Modelica.Blocks.Interfaces.RealInput u[3]
annotation (Placement(transformation(extent={{-140,-20},{-100,20}},rotation=0)));
Modelica.Blocks.Interfaces.RealOutput y[3]
annotation (Placement(transformation(extent={{90,-10},{110,10}},rotation=0)));

Real Tx = u[1];
Real Ty = u[2];
Real Tz = u[3];
Real R1 = y[1];
Real R2 = y[2];
Real R3 = y[3];

equation

R1=atan(Ty/Tz);
R2=(acos((L1^2+L2^2-(sqrt(Tx^2+Ty^2+Tz^2))^2)/(2*L1*L2)));

//2*Modelica.Math.asin(1.0)
//R3=R2.re;

annotation (uses(Modelica(version = "3.1")));
end IKTest;

1 2 3 4 Page 1 of 4